uint8  NORMAL = 0
uint8  FALLEN = 1

std_msgs/Header header

uint8 mode
float64 x
float64 phi
float64 theta
float64 x_b_l
float64 x_b_r
float64 x_dot
float64 phi_dot
float64 theta_dot
float64 x_b_l_dot
float64 x_b_r_dot
float64 acc_x
float64 acc_y
float64 acc_z

float64 T_l
float64 T_r
float64 f_b_l
float64 f_b_r
